JP2001066363A - Obstacle detecting warning apparatus for pneumatic equipment carrying vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively prevent an erroneous operation of an obstacle detecting warning apparatus due to an ultrasonic wave component even when the component is contained in an exhaust gas sound generated when a compressed air is exhausted from a pneumatic equipment. SOLUTION: An ultrasonic sensor 12 is mounted at a vehicle carrying a pneumatic equipment 16, and the sensor 12 detects an obstacle relatively approaching to a vehicle by an ultrasonic wave. A warning means 13 for generating an alarm to a driver is provided at a driver's seat of the vehicle, and a controller 14 controls the means 13 based on a detected output of the sensor 12. An exhausting period or exhausting starting time of a compressed air supplied to the equipment 16 is detected by an air exhaust sensor 27, and the controller 14 is constituted to inactivate the means 13 irrespective of the output of the sensor 2 for the exhausting time or only a predetermined time from the starting based on a detection output of the sensor 27.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an apparatus for detecting an obstacle relatively approaching a vehicle. More specifically,
The present invention relates to an obstacle detection and warning device for a vehicle equipped with a pneumatic device such as an air brake device.

[0002]

2. Description of the Related Art Conventionally, as an obstacle detection and warning device of this type, after an ultrasonic detector for detecting an approaching obstacle or the like by an ultrasonic wave is turned on, the ultrasonic detector is turned off by the running of a vehicle. The sound or engine rotation noise is detected, and when the wind noise or the engine rotation noise becomes equal to or more than a predetermined amount, the operation of the ultrasonic detector is stopped by the judging means, and an alarm that the ultrasonic detector is in a stopped state is further issued. (Japanese Unexamined Patent Publication (Kokai) No. 6-194445) discloses an in-vehicle ultrasonic detector configured so that a warning means is issued. In the on-vehicle ultrasonic detector configured as described above, since the system is controlled by detecting wind noise or engine rotation noise including an ultrasonic component, a highly reliable system can be obtained without capturing a vehicle speed signal. Can be configured.

[0003]

However, in the above-described conventional ultrasonic detector for vehicle use disclosed in Japanese Patent Application Laid-Open No. 6-194445, when a vehicle is equipped with a pneumatic device such as an air brake device. However, the compressed air is discharged from the pneumatic device to generate an exhaust sound, but the ultrasonic detector contained in the exhaust sound may cause an erroneous detection by the ultrasonic detector. In particular, there is a possibility that an ultrasonic detector close to the exhaust sound source, that is, an ultrasonic detector attached to the front and side surfaces of the vehicle for preventing entanglement at the time of left turn may erroneously detect. An object of the present invention is to provide a pneumatic device that can reliably prevent a malfunction due to an ultrasonic component even when an exhaust sound generated when discharging compressed air from a pneumatic device includes the ultrasonic component. An object of the present invention is to provide an obstacle detection and warning device for a device-equipped vehicle.

[0004]

The invention according to claim 1 is
As shown in FIGS. 1 and 5, an ultrasonic sensor 12 mounted on a vehicle 11 equipped with a pneumatic device 16 and capable of detecting an obstacle relatively approaching the vehicle 11 by ultrasonic waves, and driving the vehicle 11 This is an improvement of the obstacle detection and alarm device provided with an alarm unit 13 provided in a seat for issuing an alarm to a driver and a controller 14 for controlling the alarm unit 13 based on a detection output of the ultrasonic sensor 12. The characteristic configuration is such that the discharge period or discharge start time of the compressed air supplied to the pneumatic device 16 is detected by the air discharge sensor 27, and the controller 14 determines whether the discharge period or the discharge period is based on the detection output of the air discharge sensor 27. For a predetermined time from the discharge start time,
The alarm means 13 is deactivated regardless of the detection output of the ultrasonic sensor 12.

According to the first aspect of the present invention, when the compressed air supplied to the pneumatic device 16 is discharged, the discharge period or the discharge start time of the compressed air is supplied to the pneumatic device 16. Is detected by the air discharge sensor 27. Based on the detection output of the air discharge sensor 27, the controller 14 disables the alarm unit 13 only for the discharge period or for a predetermined time from the discharge start timing regardless of the detection output of the ultrasonic sensor 12. As a result, even if the exhaust sound of the compressed air contains an ultrasonic component, the warning means 13
Does not generate an alarm, so that malfunction of the obstacle detection and alarm device due to the ultrasonic component can be reliably prevented.

The invention according to claim 2 is the invention according to claim 1, and as shown in FIGS. 1 and 5, the pneumatic device 16 is an air brake device, and the air discharge sensor 27 is a pressure sensor. And the controller 14 has the pressure sensor 27
, The negative time change rate of the brake pressure of the air brake device 16 is calculated based on the detection output of the air brake device 16. In the obstacle detection and warning device for a vehicle equipped with pneumatic equipment according to the second aspect, when the driver depresses the brake pedal 18, compressed air is supplied to the air brake device 16 to brake the vehicle 11, and the brake is applied. When the foot is released from the pedal 18, the compressed air supplied to the air brake device 16 is discharged, and the braking of the vehicle 11 is released. When discharging the compressed air, the controller 14 calculates that the time change rate of the brake pressure is negative based on the detection output of the pressure sensor 27, and the brake pressure is negative regardless of the detection output of the ultrasonic sensor 12. The alarm unit 13 is deactivated only during the period of time change rate.

The invention according to claim 3 is the invention according to claim 1, wherein the pneumatic device 16 is an air brake device and the air discharge sensor 57 is an air brake, as shown in FIG. 7 or FIG. A stop lamp switch for detecting a time at which the stop lamp, which is lit when the brake pedal 18 of the device 16 is depressed, is switched from on to off, or a timing for switching from the depressed state of the brake pedal 18 of the air brake device 16 to the return state. It is a brake sensor 77. In the obstacle detection and warning device for a vehicle equipped with a pneumatic device according to the third aspect, when the driver depresses the brake pedal 18, the vehicle starts braking, and the stop lamp switch 57 is turned on to stop the stop lamp. When the driver turns off the brake pedal 18 and the brake pedal 18 returns, the stop lamp switch 57 is turned off and the stop lamp is turned off. The controller 14 has a stop lamp switch 57
Or, based on the detection output of the brake sensor 77, regardless of the detection output of the ultrasonic sensor 12, from the time when the stop lamp is switched from on to off, or from the brake pedal 1.
The alarm means 13 is deactivated for a predetermined time from when the change rate dθ / dt of the angle θ of 8 (θ is the inclination angle of the brake pedal 18 with respect to the floor surface) with respect to time t is switched to a positive value.

The invention according to claim 4 is the invention according to claim 1, wherein as shown in FIG. 10, the pneumatic device 96 has an air switching solenoid valve 96a, and the air discharge sensor 97 has an air discharge sensor 97. It is a changeover switch for switching the changeover electromagnetic valve 96a and detecting the timing of starting discharge of compressed air from the air changeover electromagnetic valve 96a. According to the fourth aspect of the present invention, when the compressed air supplied to the pneumatic device 96 is discharged, the changeover switch 97 sets the discharge start timing of the compressed air. Since the detection is performed, the controller 14 disables the warning means 13 based on the detection output of the changeover switch 97 irrespective of the detection output of the ultrasonic sensor 12 for a predetermined time from the discharge start timing.

[0009]

Embodiments of the present invention will now be described with reference to the drawings. As shown in FIGS. 1 to 6, the obstacle detection and warning device includes an ultrasonic sensor 12 that can detect an obstacle relatively approaching the vehicle 11 by ultrasonic waves, an alarm unit 13 that issues an alarm to a driver, A controller that controls the alarm unit based on the detection output of the ultrasonic sensor; In this embodiment, the vehicle 10 is a pneumatic device 1
6 (FIGS. 5 and 6), and the pneumatic device 16 is an air brake device (FIG. 1). The ultrasonic sensor 12 is, as shown in detail in FIGS.
A front sensor 12a is attached to the front upper surface of the front bumper 11a and a left end upper surface of the front bumper 11a. The front sensor 12a is attached to the left side surface of the truck 11 at a predetermined interval and is attached to the left oblique front. And a side sensor 12b. The warning means 13 is constituted by one or both of a warning buzzer and a warning lamp provided in the driver's seat of the truck 11 (FIG. 1).

An air brake device 16 is provided by a front wheel brake 17 and a rear wheel brake provided on a front wheel 11b and a rear wheel 11c, a brake pedal 18 provided in a driver's seat and operated by a driver, and operation of the brake pedal 18. A brake valve 19 for switching the compressed air flow path is provided (FIGS. 1, 5 and 6). Since the rear wheel brake is configured substantially the same as the front wheel brake 17, the front wheel brake 17 will be described as a representative and the description of the rear wheel brake will be omitted. The front wheel brake 17 includes a brake drum (not shown) mounted in the wheel of the front wheel 11b,
A pair of brake shoes 17a, 17a disposed along the inner peripheral surface of the brake drum, and the upper ends of the pair of brake shoes 17a, 17a are pushed out to bring these brake shoes 17a, 17a into pressure contact with the inner surface of the brake drum. And a hydraulic wheel cylinder 17b (FIG. 1).

The brake valve 19 is a dual brake valve of a tredle type piston in this embodiment, and has an upper valve 21 and a lower valve 22. The lower valve 22 has a front-side first port 22 connected to a front air tank 23 via a first air line 31.
a and the second air line 3 to the front brake booster 24.
2 and a front-side second port 22b connected via the second port 22b. The front brake booster 24 is connected to a wheel cylinder 17b of the front wheel brake 17 via a hydraulic line 26. Note that reference numeral 25 in FIG.
Is an oil reservoir tank.

The upper valve 21 has a rear first port 21a connected to a rear air tank (not shown).
And a rear-side second port 21b connected to a rear wheel brake (not shown) via a rear brake booster (not shown). The brake pedal 18 is rotatably mounted on the upper surface of the brake valve 19, and when the brake pedal 18 is depressed, the plunger 19a moves a piston (not shown) in the brake valve 19 to switch the air flow path. It is composed of An exhaust port 19b is formed on the lower surface of the brake valve 19. The brake booster 24 is provided to convert air pressure into hydraulic pressure to obtain a large braking force.

The second air line 32 is provided with a pressure sensor 27 (air discharge sensor) for detecting a discharge period of the compressed air supplied to the front brake booster 24. The pressure sensor 27 is configured to detect a period in which the time change rate of the air pressure in the second air line 32 is negative, that is, a period in which the air pressure in the second air line 32 decreases with time. Is done. As shown in detail in FIG.
2 and the detection output of the pressure sensor 27 are output from the I / O port 14.
a to the control input of the CPU 14b
The control output of 14b is connected to the alarm means 13 via the I / O port 14c. Controller 14 is pressure sensor 2
Based on the detection output of 7, the alarm means 13 is deactivated for the discharge period regardless of the detection output of the ultrasonic sensor 12. Further, a memory 28 is connected to the CPU 14b. The memory 28 is compared with the detection distance L of the ultrasonic sensor 12, and an obstacle is relatively approached to the truck 11, and an alarm operation maximum distance L for operating the alarm means 13 is obtained. ₀ is stored.

The operation of the obstacle detection / alarm apparatus thus constructed will be described with reference to the flowchart of FIG. For simplicity and clarity, only the operation of the front wheel brake 17 will be described, and the description of the operation of the rear wheel brake will be omitted. While the truck 11 is traveling, the ultrasonic sensor 12 emits ultrasonic waves toward the diagonally forward left direction to detect the distance L to the obstacle on the left side of the truck 11, and the pressure sensor 27 is located in the second air pipe 32. Detect the air pressure of The controller 14 first takes in the detection outputs L and P of the ultrasonic sensor 12 and the pressure sensor 27, and determines whether or not the time change rate of the air pressure in the second air line 32 is negative.
That is, it is calculated whether dP / dt <0. dP / d
If t is not negative, the controller 14 compares the detection distance L of the ultrasonic sensor 12 with the maximum alarm activation distance L ₀ stored in the memory 28 and activates the alarm means 13 when L <L _0. Let it. By the operation of the alarm means 13, the driver visually checks the left side of the truck 11 directly or through the side mirror to check the position and the state of the obstacle, and decelerates or stops the truck 11 according to the situation. Avoid the obstacle being involved.

On the other hand, the brake pedal 1
8, the exhaust port 19b of the brake valve 19
Is closed, and the front side first port 22a and the front side second port 22b communicate with each other, so that the compressed air in the front air tank 23 is supplied to the front brake booster 24. The booster 24 converts the air pressure into a high-pressure oil pressure, and supplies the pressure oil to the wheel cylinder 17 b of the front wheel brake 17.
7a and 17a are pressed against the brake drum, and the truck 11 decelerates. When the driver decelerates to the desired speed, the driver releases his / her foot from the brake pedal 18, and the brake pedal 18 returns to the first position on the front side of the brake valve 19.
The port 22a is shut off and the front-side second port 22b
And the exhaust port 19b communicate with each other.

Thus, the front brake booster 24
The compressed air in the exhaust port 1 passes through the second air line 32
9b, the air pressure in the second air line 32 gradually decreases.
It detects that the time change rate of the air pressure in 2 has started to become negative. That is, as shown in FIG.
The time rate of change of the air pressure in the air line 32 is dP / dt <0.
Is detected. Based on the detection output of the pressure sensor 27, the controller 14 deactivates the alarm means 13 regardless of the detection output of the ultrasonic sensor 12, and the time change rate of the air pressure in the second air line 32 becomes zero or positive. When this happens, the controller 14 takes in the detection outputs of the ultrasonic sensor 12 and the pressure sensor 27 again, and repeats the same operation as described above. As a result, even if the exhaust sound generated when the compressed air is exhausted from the exhaust port 19b of the brake valve 19 includes an ultrasonic component, the alarm unit 13 does not generate an alarm, so that the obstacle due to the ultrasonic component is not generated. Malfunction of the detection and alarm device can be reliably prevented.

FIGS. 7 and 8 show a second embodiment of the present invention. 7, the same reference numerals as those in FIG. 1 indicate the same parts. In this embodiment, as the air discharge sensor 57,
A stop lamp switch is used instead of the pressure sensor according to the first embodiment (FIG. 7). The stop lamp switch 57 is provided on the lower surface of the brake valve 19,
The stop lamp is turned on when the brake pedal 18 is depressed, and the stop lamp is turned on. When the brake pedal 18 is released, the stop lamp is turned off and the stop lamp is turned off. Further, the stop lamp switch 57 is configured to detect a time when the stop lamp is switched from on to off. The controller 14 is the ultrasonic sensor 1
Time to regardless alarm means 13 inoperative in the second detection output T ₀ is set from when the stop lamp is switched to off from the lighting to 0.5-2 seconds (Fig. 8). Except for the above, the configuration is the same as that of the first embodiment.

The operation of the obstacle detection / alarm apparatus thus configured will be described. When the driver depresses the brake pedal 18, the truck starts braking, and the stop lamp switch 57 is turned on to turn on the stop lamp. When the speed of the truck is reduced to a desired speed, the driver releases his / her foot from the brake pedal 18, so that the stop lamp switch 57 is turned off and the stop lamp is turned off. Based on the detection output of the stop lamp switch 57, the controller 14 regardless of the detection output of the ultrasonic sensor 12,
The predetermined time T ₀ (from the time when the stop lamp is switched from lighting to extinguishing (the timing of starting the discharge of the compressed air from the discharge port 19b of the brake valve 19), that is, from the time when the stop lamp switch 57 is switched from on to off. The warning means 13 is deactivated only for the time during which all the compressed air in the front brake booster 24 is discharged, for example, for one second. As a result, the exhaust port 19b of the brake valve 19
Even if the exhaust sound generated when compressed air is discharged from the air contains an ultrasonic component, the alarm means 13 does not generate an alarm, so that the malfunction of the obstacle detection and alarm device due to the ultrasonic component is reliably prevented. can do. Operations other than those described above are substantially the same as those in the first embodiment, and thus, repeated description will be omitted.

FIG. 9 shows a third embodiment of the present invention.
9, the same reference numerals as those in FIG. 1 indicate the same parts. In this embodiment, a brake sensor that detects the time when the brake pedal 18 is switched from the depressed state to the return state is used as the air discharge sensor 77. The brake sensor 77 is a potentiometer, and
9 by detecting the stroke of the plunger 19a, the timing at which the rate of change dθ / dt of the angle θ of the brake pedal 18 (θ is the inclination angle of the brake pedal 18 with respect to the floor surface) with respect to time t is positively switched. It is configured to detect. The controller 14 is the ultrasonic sensor 1
The time for disabling the alarm means 13 irrespective of the detection output 2 is set to 0.5 to 2 seconds from when the brake pedal 18 is switched from the depressed state to the return state. Except for the above, the configuration is the same as that of the first embodiment.

The operation of the thus configured obstacle detection / warning apparatus will be described. Brake pedal 1 while the driver is traveling
8, the plunger 19a moves the brake valve 19
Is pushed inside and the truck slows down. When the driver decelerates to the desired speed, the driver releases his / her foot from the brake pedal 18, and the plunger 19a projects from the brake valve 19 and returns. The controller 14 has a brake sensor 77
When the brake pedal 18 is switched from the depressed state to the return state based on the detected output of the ultrasonic sensor 12 (the discharge port 1 of the brake valve 19).
The warning means 13 is deactivated for a predetermined time (a time during which all the compressed air in the front brake booster 24 is discharged, for example, 1 second) from the start of the discharge of the compressed air from 9b. As a result, the exhaust port 19 of the brake valve 19
Even if the exhaust sound generated when the compressed air is discharged from b contains an ultrasonic component, the alarm means 13 does not generate an alarm, so that the malfunction of the obstacle detection / alarm device due to the ultrasonic component is ensured. Can be prevented. Operations other than those described above are substantially the same as those in the first embodiment, and thus, repeated description will be omitted.

FIG. 10 shows a fourth embodiment of the present invention. 10, the same reference numerals as those in FIG. 1 indicate the same parts.
In this embodiment, the pneumatic device 96 is an exhaust brake device having an air switching solenoid valve 96a, and the air discharge sensor 97 switches the air switching solenoid valve 96a and the compressed air from the air switching solenoid valve 96a is discharged. This is a switch for detecting the discharge start timing. The exhaust brake device 96 has an air cylinder 96b that rotates an exhaust valve provided in an exhaust pipe by supply and discharge of compressed air by the air switching electromagnetic valve 96a, and the air cylinder 96b is connected to the air switching electromagnetic valve 96a. It is connected to the air tank 23 via 96a. Also, air switching solenoid valve 96a
Is electrically connected to the battery 98 via the changeover switch 97. The air switching solenoid valve 96a is connected to the air tank 2
3 and a first port 96c connected to the air cylinder 96.
b, and an exhaust port 96e open to the atmosphere. When the changeover switch 97 is turned on, the first port 96c communicates with the second port 96d, and when the changeover switch 97 is turned off, the second port 96d communicates with the exhaust port 96e. Further, detection outputs of the ultrasonic sensor 12 and the changeover switch 97 are electrically connected to a control input of the controller 14, and a control output of the controller 14 is electrically connected to the alarm unit 13. The time during which the controller 14 deactivates the alarm means 13 regardless of the detection output of the ultrasonic sensor 12 is set to 0.5 to 2 seconds from the start time of the discharge of the compressed air.

The operation of the thus configured obstacle detection / warning apparatus will be described. When the driver operates the exhaust brake, the changeover switch 97 is turned on, the first port 96c and the second port 96d of the air switching solenoid valve 96a communicate with each other, and the compressed air in the air tank 23 is released from the air cylinder 96.
b, and the exhaust valve in the exhaust pipe closes. This increases the pressure in the engine and increases the effect of engine braking. When the truck decelerates to the desired speed, the driver stops operating the exhaust brake.
At this time, the changeover switch 97 is turned off, and the second port 96d of the air switching solenoid valve 96a communicates with the exhaust port 96e, so that the compressed air in the air cylinder 96b starts to be discharged from the exhaust port 96e. At this time, the controller 14
Irrespective of the detection output of the ultrasonic sensor 12, the alarm means is provided only for a predetermined time (a time during which all the compressed air in the air cylinder 96b is discharged, for example, one second) from the start of discharging the compressed air from the air switching solenoid valve 96a. 13 is deactivated.
As a result, the exhaust port 96e of the air switching solenoid valve 96a
Even if the exhaust sound generated when compressed air is discharged from the air contains an ultrasonic component, the alarm means 13 does not generate an alarm, so that the malfunction of the obstacle detection and alarm device due to the ultrasonic component is reliably prevented. can do. Operations other than those described above are substantially the same as those in the first embodiment, and thus, repeated description will be omitted.

In the first to fourth embodiments,
Although a truck has been described as a vehicle, a bus or another vehicle may be used as long as the vehicle is equipped with a pneumatic device. In the first embodiment, the pressure sensor serving as the air discharge sensor is provided in the second air line, but may be provided in the hydraulic line. Further, in the fourth embodiment, the exhaust brake device having the air switching solenoid valve switched by the changeover switch is described as the pneumatic device. However, the pneumatic device having the air switching solenoid valve switched by the changeover switch is described. For equipment, air horn, retarder, clutch booster,
A transmission shift booster or the like may be used.

[0024]

As described above, according to the present invention, the air discharge sensor detects the discharge period or discharge start time of the compressed air supplied to the pneumatic device, and the controller outputs the detection output of the air discharge sensor. Based on the above-mentioned discharge period or only for a predetermined time from the above-mentioned discharge start timing, the warning means is deactivated regardless of the detection output of the ultrasonic sensor, so that the compressed air supplied to the pneumatic device is discharged. When the exhaust sound is generated, the alarm means does not issue an alarm even if the exhaust sound includes an ultrasonic component. As a result,
Malfunction of the obstacle detection / warning device due to the ultrasonic component can be reliably prevented. If the pneumatic device is an air brake device and the air discharge sensor is a pressure sensor,
When the compressed air supplied to the air brake device is discharged, the controller calculates the negative time rate of change of the brake pressure based on the detection output of the pressure sensor. Deactivate the alarm means regardless of the detection output. As a result, the same effect as above can be obtained.

The pneumatic device is an air brake device,
If the air discharge sensor is a stop lamp switch that detects the time when the stop lamp that is lit when the brake pedal is depressed is switched from on to off, or a brake sensor that detects the time when the brake pedal is switched from the depressed state to the return state, When the compressed air supplied to the air brake device is discharged, the stop lamp switch or the brake sensor detects the discharge start timing of the compressed air. Irrespective of the detection output of the ultrasonic sensor, the alarm unit is deactivated for a predetermined time from the discharge start timing. As a result, the same effect as above can be obtained. Further, the pneumatic device has an air switching solenoid valve, and a switching switch for switching the air switching solenoid valve as an air discharge sensor and detecting a timing of starting discharge of compressed air from the air switching solenoid valve to the atmosphere is used. For example, when the compressed air supplied to the pneumatic device is discharged, the changeover switch detects the start time of the discharge of the compressed air, so that the controller detects the output of the ultrasonic sensor based on the detection output of the changeover switch. Regardless of this, the alarm means is deactivated for a predetermined time from the discharge start time. As a result, the same effect as above can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an obstacle detection / warning device of a vehicle equipped with a pneumatic device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a change with time of a brake pressure detected by a pressure sensor.

FIG. 3 is a block diagram showing control of the obstacle detection / warning device.

FIG. 4 is a flowchart showing the operation of the obstacle detection and warning device.

FIG. 5 is a front view of a truck showing an attachment state of an ultrasonic sensor.

FIG. 6 is a plan view showing a state where the track is about to turn left at an intersection.

FIG. 7 is a configuration diagram corresponding to FIG. 1 showing a second embodiment of the present invention.

FIG. 8 is a diagram showing a change with time of an on / off operation of a stop lamp switch.

FIG. 9 is a configuration diagram corresponding to FIG. 1 showing a third embodiment of the present invention.

FIG. 10 is a configuration diagram corresponding to FIG. 1 showing a fourth embodiment of the present invention.

[Explanation of symbols]

 11 Truck (vehicle) 12 Ultrasonic sensor 13 Alarm means 14 Controller 16 Air brake device (Pneumatic device) 18 Brake pedal 27 Pressure sensor (Air discharge sensor) 57 Stop lamp switch (Air discharge sensor) 77 Brake sensor (Air discharge sensor) 96) Exhaust brake device (pneumatic device) 96a Solenoid valve for air switching 97 Selector switch (air discharge sensor)

Claims (4)

[Claims] An ultrasonic sensor (12) attached to a vehicle (11) equipped with a pneumatic device (16, 96) and capable of detecting an obstacle relatively approaching the vehicle (11) by ultrasonic waves. , The vehicle (1
Alarm means (1) provided in the driver's seat to alert the driver
3) and an obstacle detection and alarm device comprising a controller (14) for controlling the alarm means (13) based on the detection output of the ultrasonic sensor (12), wherein the pneumatic device (16, 96) The discharge period or discharge start time of the compressed air supplied to the air supply sensor is detected by the air discharge sensor (27, 57, 77), and the controller (14) detects the compressed air based on the detection output of the air discharge sensor (27, 57, 77). Pneumatic pressure characterized in that the alarm means (13) is deactivated irrespective of the detection output of the ultrasonic sensor (12) only for the discharge period or for a predetermined time from the discharge start timing. Obstacle detection and warning device for equipment-equipped vehicles. 2. A pneumatic device (16) is an air brake device, an air discharge sensor (27) is a pressure sensor, and a controller (14) controls the air brake based on a detection output of the pressure sensor (27). The obstacle detection and warning device for a vehicle equipped with a pneumatic device according to claim 1, wherein the device is configured to calculate a negative temporal change rate of a brake pressure of the device (16). 3. A pneumatic device (16) is an air brake device, and an air discharge sensor (57, 77) is turned on by a stop lamp which lights when a brake pedal (18) of the air brake device (16) is depressed. A stop lamp switch (57) for detecting a timing of switching to a light-off state, or a brake sensor (77) for detecting a timing of switching from a depressed state of a brake pedal (18) of the air brake device (16) to a return state. Item 2. An obstacle detection alarm device for a vehicle equipped with a pneumatic device according to Item 1. 4. A pneumatic device (96) comprising an air switching solenoid valve (96a).
And an air discharge sensor (97) is provided with the air switching solenoid valve (9).
2. The obstacle detection alarm device for a vehicle equipped with a pneumatic device according to claim 1, wherein the changeover switch is a changeover switch for switching between 6a) and detecting a start time of discharging compressed air from the air switching solenoid valve (96a).